embedded visual control for robotics 5hc99
Post on 24-Feb-2016
56 Views
Preview:
DESCRIPTION
TRANSCRIPT
Embedded VisualControl for Robotics5HC99ir. Roel Pieters & dr. Dragan KostićSection Dynamics and ControlDept. Mechanical Engineering{r.s.pieters, d.kostic}@tue.nl
October 22nd, 2010
22
Outline
• Visual Servo Robot Control• Camera Configurations• Omnidirectional Vision• Experiences 5HC99 2009-10• Assignment 5HC99 2010-11
Visual Servo Robot Control
• Refers to a closed-loop control of the pose of a robot by utilizing the information extracted from vision sensors.
• Integrates different technologies:• image processing & computer vision,• electronics, DSP-based computer
hardware & software development,• multi-body kinematics, dynamics
and control theory.
4
• Semi-automated Foosball table
• One side controlled bya robotic system
• Vision:• finds ball• finds puppets• removes all the features
but the ball• @ 100 Hz
Fixed Camera
5
TechUnited – RoboCup
Moving Camera
6
• Object detection(ball, field, lines, goal, robots)
• Positioning (move to target,avoid an obstructor)
• Localization, world map(where am I?)
Omnidirectional Vision
7
Experiences 5HC99 2009-10
88
Blackfin + OpenCV + iArm
99
1. Homography-based Visual Servoing.2. Application in two case-studies:
• mobile robot navigation,• motion control of a robot arm.
3. Experimental demonstrations.
Assignment 5HC99 2010-11
Questions
top related